Reachability Analysis of Cooperative Adaptive Cruise Controller
Paper i proceeding, 2012

In this paper, a set based approach to safety analysis of Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC) is presented. Reachability analysis techniques are used to compare the minimum safe intervehicle distances which can be achieved with ACC and CACC controllers. Not surprisingly, the results indicate that a shorter inter-vehicle distance can be achieved with a CACC controller. The presented method can also be used to design the required inter-vehicle distance for a given controller. Furthermore, we show how backward reachability analysis and invariant set theory can be used to find the Maximal Asymptotic Safe Set. This is defined as a set of position error, relative speeds and acceleration, which a given controller is guaranteed to control to the desired speed and inter-vehicle distance, while fulfilling vehicle physical constraints and avoiding rear-end collisions with the preceding vehicle. The calculation of the Maximal Asymptotic Safe Set is demonstrated for ACC and CACC controller designed based on mixed H2/∞ state feedback. Finally, the calculation of the Maximal Asymptotic Safe Set is extended to the case of vehicle model uncertainties.

Författare

Roozbeh Kianfar

Signaler och system, System- och reglerteknik, Mekatronik

Paolo Falcone

Signaler och system, System- och reglerteknik, Mekatronik

Jonas Fredriksson

Signaler och system, System- och reglerteknik, Mekatronik

IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

1537-1542 6338839

Drivkrafter

Hållbar utveckling

Styrkeområden

Transport

Ämneskategorier

Elektroteknik och elektronik

DOI

10.1109/ITSC.2012.6338839

ISBN

978-1-4673-3063-3